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General| Degrees of Freedom | 6 |
|---|---|
| Payload Capacity | 5 kg |
| Reach | 700 mm |
| Repeatability | ±0.1 mm |
| Model | xArm6 |
| Control Method | Teach pendant or PC |
| Operating Temperature | 0°C to 45°C |
| Communication Interface | Ethernet |
| Humidity | 20% to 80% (non-condensing) |
| Installation | Floor-mounted or table-mounted |
Lists the components included in the robotic arm package.
Defines core components like Control Box, End Effector, and Enable Robotic Arm.
Defines TCP, Payload, Offset, and Roll/Pitch/Yaw parameters.
Defines Axis-Angle and Base Coordinate System representations.
Defines coordinate systems, operational modes, and sensitivity settings.
Details parameters for robotic arm motion, including working ranges.
Defines units for Python/Blockly and communication protocols.
Essential safety information for users and integrators.
Disclaimers and explanation of DANGER/WARNING symbols.
General warnings for installation, operation, and environmental factors.
Detailed safety guidelines for personnel operating the arm.
Lists the components included with the xArm robotic arm.
Explains the function and operation of the emergency stop button.
Control box description, robot install intro, and environment safety.
Outlines installation steps and defines the robotic arm's operational area.
Details base mounting, arm-to-box, and power connections.
Steps for control box networking and end-effector mounting.
Pre-power on checks and steps to turn on the system.
Steps to safely power down the robotic arm system.
How to connect the AC control box to the arm and power.
Arm connector pin definition and DC box overview.
Pin definition for the DC control box's power connector.
Specs for external power and warnings for electrical safety.
Details the I/O interface for the tool on the arm's end.
Explains the specifications and usage of digital outputs.
Explains specifications and usage of digital inputs and analog inputs.
Electrical specifications for 24V digital I/Os.
Details safety I/O and the default safety configuration.
How to connect external emergency stop buttons and share them.
Auto-recoverable and reset button protective stop setups.
Explains configurable digital input/output functions.
Using digital I/O for PLC comms and analog I/O usage.
Details the RS-485 communication setup and pin configuration.
Explains how to connect and configure Ethernet communication.
Step-by-step guide for installing the gripper.
Describes the sequence of operations for gripper movement.
Safety considerations and notes for gripper usage.
Instructions for installing the vacuum gripper.
How to activate and deactivate the vacuum gripper.
Features, compatibility, and hardware setup for Studio.
Guides on connecting to the arm and setting up network.
Steps for configuring the IP address for communication.
Alternative methods for connecting to the robotic arm.
How to return to the initial search screen and manage projects.
Displays arm status and lists main functional modules.
Explains the options in the Window, Language, Tool, and Help menus.
Adjusts linear and joint motion parameters like acceleration and step.
Adjusts collision/teach sensitivity and sets the initial arm position.
Selects and configures installed end effectors.
Configures Tool Center Point payload and offset.
Sets and records TCP payload data for the robotic arm.
Sets and records TCP offset data for the robotic arm.
Configures digital and analog I/O signals and input settings.
Explains general purpose and emergency stop output functions.
Monitors and controls IO input/output status.
Limits the arm's working range in Cartesian space.
Limits linear speed, joint speed, and joint range.
Sets the robotic arm's mounting direction (floor, ceiling, wall).
Schedules offline tasks to run at specific times.
Customizes user coordinate systems by setting offsets.
Adjusts advanced parameters like joint and TCP jerk.
Enables features like Quick Copy and Quick Access.
Accesses tools for PID parameters and motion control.
Process for identifying friction parameters for improved performance.
Configures logic for IO output, collision rebound, and self-collision.
Displays joint current/voltage and allows joint unlocking.
Allows manual rotation of unlocked joints.
Tool to clear multiturn encoder errors.
Export, import, and reset robotic arm configuration files.
Password management and overview of system settings.
Displays IP address, firmware, and software versions.
Procedures for shutting down or restarting the control box.
How to update the xArm Studio and firmware.
Manages IP address, subnet mask, and DNS settings.
Viewing and downloading error logs from the control box.
Displays connection status and software emergency stop.
Switching between real/simulated modes and manual joint control.
Controls individual joint angles and positions.
Controls Cartesian space motion along straight lines.
Defines and uses tool center point coordinate systems.
Controls arm via base or tool coordinate systems.
Specific interface for xArm 5 operation including aligning.
Setting arm position and adjusting motion speed.
Overview of the Blockly programming environment.
Area where code blocks are dragged and assembled.
Options available when right-clicking code blocks.
Explains types of code blocks like Setting, Motion, Logic.
Explains blocks for sleep, motion state, and emergency stop.
Blocks for acquiring and setting GPIO interface data.
Blocks for controlling grippers (xArm, bio, robotiq).
Blocks for running trajectories and importing apps.
Explains wait and if/else conditional logic blocks.
Explains blocks for forever, repeat, and break loops.
Blocks for math operations and text printing.
Blocks for creating, renaming, and deleting variables.
Blocks for defining and using functions with/without return values.
Moves arm to command position or re-edits coordinates.
Guidance on avoiding collisions and unsolvable linear motions.
Steps for creating and managing Python projects.
Command caching mechanism and introduction to motion recording.
Interface for starting, stopping, and managing recordings.
Notes on SDK interfaces and Blockly angle units.
Explains joint, linear, arc, and servoj motion modes.
Describes position, servoj, and teaching modes.
Explains control box states: start, paused, stop, motion, standby.
How to set joint speed, acceleration, and angles.
Planning continuous motion using arc transitions between joints.
Controls Cartesian space linear movements and trajectory.
Plans continuous motion using arc transitions between straight lines.
Calculates spatial circle trajectories based on three points.
Discusses Cartesian and joint space movement specifics of xArm5.
Defines singularities and how they affect motion planning.
Strategies to handle singularities during teaching or running.
Blockly program to control the vacuum gripper for pick and place.
Blockly programs for gripper control and digital IO motion triggers.
Counting program cycles using counter commands.
Lists joint error codes and recommended handling procedures.
Lists error codes specific to the control box and their solutions.
Lists gripper error codes and recommended handling procedures.
Lists error codes from the Python SDK and their solutions.
General specifications for xArm5, xArm6, and xArm7 models.
Detailed specifications for the xArm 5 model.
Detailed specifications for the xArm 6 model.
Detailed specifications for the xArm 7 model.
Frequently asked questions and their solutions.
Guides on updating xArm software and firmware.
Steps for updating using the xArm-Tool-GUI application.
Steps for updating using xArm-Tool-GUI without internet.
Steps for online updates using xArm Studio.
Guidelines for long-term placement and cleaning.
Information on after-sales policy and service process.
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